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All Journal Indonesian Journal of Computing, Engineering, and Design
Muhamad Rausyan Fikri
Information Systems, Faculty of Engineering and Technology, Sampoerna University
Arts Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Full-State Feedback Control Design for Shape Formation using Linear Quadratic Regulator Muhamad Rausyan Fikri; Djati Wibowo Djamari
Indonesian Journal of Computing, Engineering, and Design (IJoCED) Vol. 2 No. 2 (2020): IJoCED
Publisher : Faculty of Engineering and Technology, Sampoerna University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35806/ijoced.v2i2.114

Abstract

This study investigated the capability of a group of agents to form a desired shape formation by designing the feedback control using a linear quadratic regulator. In real application, the state condition of agents may change due to some particular problems such as a slow input response. In order to compensate for the problem that affects agent-to-agent coordination, a robust regulator was implemented into the formation algorithm. In this study, a linear quadratic regulator as the full-state feedback of robust regulator method for shape formation was considered. The result showed that a group of agents can form the desired shape (square) formation with a modification of the trajectory shape of each agent. The results were validated through numerical experiments.
Co-Authors Djati Wibowo Djamari